EP3385037A4 - Method and device for controlling a great number of robots to emergently stop - Google Patents

Method and device for controlling a great number of robots to emergently stop Download PDF

Info

Publication number
EP3385037A4
EP3385037A4 EP16883441.4A EP16883441A EP3385037A4 EP 3385037 A4 EP3385037 A4 EP 3385037A4 EP 16883441 A EP16883441 A EP 16883441A EP 3385037 A4 EP3385037 A4 EP 3385037A4
Authority
EP
European Patent Office
Prior art keywords
robots
controlling
great number
emergently stop
emergently
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16883441.4A
Other languages
German (de)
French (fr)
Other versions
EP3385037A1 (en
EP3385037B1 (en
Inventor
Jianquiang ZHU
Juejing XU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Libiao Robots Co Ltd
Original Assignee
Zhejiang Libiao Robots Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Libiao Robots Co Ltd filed Critical Zhejiang Libiao Robots Co Ltd
Publication of EP3385037A1 publication Critical patent/EP3385037A1/en
Publication of EP3385037A4 publication Critical patent/EP3385037A4/en
Application granted granted Critical
Publication of EP3385037B1 publication Critical patent/EP3385037B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31003—Supervise route, reserve route and allocate route to vehicle, avoid collision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31006—Monitoring of vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49298—Probe identification
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP16883441.4A 2016-01-04 2016-12-27 Method and device for controlling a great number of robots to emergently stop Active EP3385037B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610004679.0A CN105459117B (en) 2016-01-04 2016-01-04 Method and device for controlling lots of robots to stop emergently
PCT/CN2016/112284 WO2017118316A1 (en) 2016-01-04 2016-12-27 Method and device for controlling a great number of robots to emergently stop

Publications (3)

Publication Number Publication Date
EP3385037A1 EP3385037A1 (en) 2018-10-10
EP3385037A4 true EP3385037A4 (en) 2018-10-24
EP3385037B1 EP3385037B1 (en) 2021-11-03

Family

ID=55597493

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16883441.4A Active EP3385037B1 (en) 2016-01-04 2016-12-27 Method and device for controlling a great number of robots to emergently stop

Country Status (6)

Country Link
US (1) US11602851B2 (en)
EP (1) EP3385037B1 (en)
JP (1) JP6756849B2 (en)
KR (1) KR102141579B1 (en)
CN (1) CN105459117B (en)
WO (1) WO2017118316A1 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105459117B (en) 2016-01-04 2017-05-03 杭州亚美利嘉科技有限公司 Method and device for controlling lots of robots to stop emergently
CN107618033B (en) * 2016-07-13 2021-03-05 深圳市朗驰欣创科技股份有限公司 Robot emergency stop control system and method
GB201701615D0 (en) * 2017-02-01 2017-03-15 Ocado Innovation Ltd Safety system for an automated storage and picking system and method of operating thereof
CN110570687B (en) * 2018-06-06 2021-04-27 杭州海康机器人技术有限公司 AGV control method and device and storage medium
EP3812865A4 (en) 2018-06-21 2022-07-13 Beijing Geekplus Technology Co., Ltd. Robot scheduling and robot path control method, server and storage medium
CN109352657B (en) * 2018-11-29 2020-11-17 深圳前海达闼云端智能科技有限公司 Control method, related device and storage medium
CN109746914B (en) * 2018-12-29 2021-05-04 深圳镁伽科技有限公司 Method of constructing robot, robot control apparatus, system, and storage medium
CN111487931B (en) * 2019-01-29 2024-04-12 北京京东乾石科技有限公司 AGV abnormal processing method and device
CN113126603B (en) * 2019-12-30 2023-06-23 杭州海康机器人股份有限公司 AGV scheduling method and device
CN111775148B (en) * 2020-06-15 2022-03-08 珠海格力电器股份有限公司 Robot control method and device, storage medium and robot
CN113093664A (en) * 2021-03-19 2021-07-09 杭州晨龙智能科技有限公司 Method and system for automatic logistics
CN113674549B (en) * 2021-07-22 2022-11-29 安徽电信规划设计有限责任公司 Method, system and device for parking space guidance and reverse vehicle finding based on AI mobile robot
CN114454162B (en) * 2022-01-10 2023-05-26 广东技术师范大学 Mobile robot complex intersection anti-collision method and system
CN117103287A (en) * 2023-10-25 2023-11-24 深圳市协和传动器材有限公司 Cooperative control method and system for industrial robot

Citations (1)

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US4926103A (en) * 1985-08-30 1990-05-15 Texas Instruments Incorporated System for dynamically determining position of multiple automatically guided vehicles

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Also Published As

Publication number Publication date
JP2019507448A (en) 2019-03-14
KR102141579B1 (en) 2020-08-06
CN105459117B (en) 2017-05-03
JP6756849B2 (en) 2020-09-16
CN105459117A (en) 2016-04-06
KR20180091045A (en) 2018-08-14
WO2017118316A1 (en) 2017-07-13
EP3385037A1 (en) 2018-10-10
EP3385037B1 (en) 2021-11-03
US11602851B2 (en) 2023-03-14
US20200346348A1 (en) 2020-11-05

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